public void Initialize(BaseCameraApplication capture)
{
DepthCameraFrame frame = capture.GetDevices()[0].GetDepthImage();
try
{
StreamReader reader = new StreamReader(new MemoryStream(Perceptual.Foundation.Properties.Resources.AdaptiveTemporalFilter));
string text = reader.ReadToEnd();
CLCalc.Program.Compile(capture.GetPrimaryDevice().GetPreprocessCode() + "\n#define HISTORY_SIZE 0\n" + text);
reader.Close();
}
catch (Exception ex)
{
System.Console.WriteLine(ex.Message);
System.Console.WriteLine("Could not find DoNothingFilter.cl");
Environment.Exit(1);
}
updateBuffer = new CLCalc.Program.Kernel("UpdateFilter");
copyToTemporalBuffer = new CLCalc.Program.Kernel("CopyToTemporalBuffer");
depthBuffer = CLCalc.Program.Variable.Create(new ComputeBuffer<float>(CLCalc.Program.Context, ComputeMemoryFlags.ReadWrite, 4 * frame.Width * frame.Height));
depthCopyBuffer = new CLCalc.Program.Variable(new float[4 * frame.Width * frame.Height]);
depthImage = new CLCalc.Program.Image2D(new float[frame.Height * frame.Width * 4], frame.Width, frame.Height);
uvImage = new CLCalc.Program.Image2D(new float[frame.Height * frame.Width * 4], frame.Width, frame.Height);
kernelCopyImage = new CLCalc.Program.Kernel("CopyImage");
}
public void Initialize(BaseCameraApplication app)
{
try
{
CLCalc.Program.Compile(app.GetPrimaryDevice().GetPreprocessCode() + src);
}
catch (BuildProgramFailureComputeException ex)
{
System.Console.WriteLine(ex.Message);
Environment.Exit(1);
}
int width = app.GetPrimaryDevice().GetDepthImage().Width;
int height = app.GetPrimaryDevice().GetDepthImage().Height;
pointBuffer = CLCalc.Program.Variable.Create(new ComputeBuffer<float>(CLCalc.Program.Context, ComputeMemoryFlags.ReadWrite | ComputeMemoryFlags.CopyHostPointer, points = new float[width * height * 4]));
colorBuffer = CLCalc.Program.Variable.Create(new ComputeBuffer<float>(CLCalc.Program.Context, ComputeMemoryFlags.ReadWrite | ComputeMemoryFlags.CopyHostPointer, colors = new float[width * height * 4]));
kernelCopyImage = new CLCalc.Program.Kernel("CopyToPoinCloud");
}
public void Process(BaseCameraApplication app)
{
bbox = app.GetPrimaryDevice().GetBoundingBox();
GroundPlane = app.GetPrimaryDevice().GetGroundPlane();
GroundPlane.Invert();
}
public void Process(BaseCameraApplication capture)
{
const double ScaleFactor = 1.0850;
DepthCameraFrame depthFrame = capture.GetPrimaryDevice().GetDepthImage();
ColorCameraFrame rgbFrame = capture.GetPrimaryDevice().GetColorImage();
TextureMapFrame uvFrame = capture.GetPrimaryDevice().GetTextureImage();
kernelCopyIRImage.Execute(new CLCalc.Program.MemoryObject[] { depthFrame.GetMemoryObject(), irImageBuffer }, width * height);
CLCalc.Program.CommQueues[CLCalc.Program.DefaultCQ].Read<byte>(((ComputeBuffer<byte>)irImageBuffer.VarPointer), true, 0, width * height, gray.ImageData, null);
storage.Clear();
//Use OpenCV for face tracking in IR image. SDK has its own face tracker, but it only operates in RGB. Either could be used for this example.
CvSeq<CvAvgComp> faces = Cv.HaarDetectObjects(gray, faceCascade, storage, ScaleFactor, 2, 0, new CvSize(40, 40));
if (faces.Total > 0)
{
CvRect face = faces[0].Value.Rect;
Cv.SetImageROI(gray, face);
Cv.SetImageROI(dilate, face);
Cv.SetImageROI(erode, face);
Cv.SetImageROI(tmp, face);
//Filter the image to enhance contrast between eyes/face.
Cv.Dilate(gray, tmp);
Cv.Dilate(tmp, dilate);
Cv.Threshold(gray, tmp, 0, 1, ThresholdType.Binary);
Cv.Erode(gray, erode);
Cv.Sub(gray, erode, gray);
Cv.Mul(gray, tmp, gray);
Cv.SetImageROI(mask, face);
Cv.SetImageROI(imgLabel, face);
//Threshold out peaks.
Cv.Threshold(gray, mask, 128, 255, ThresholdType.Binary);
blobs.Clear();
uint result = blobs.Label(mask, imgLabel);
double minDistLeft = 1E10;
double minDistRight = 1E10;
int xCenter = face.Width / 2;
int yCenter = (int)((face.Height) * 0.35);
CvPoint center = new CvPoint(xCenter, yCenter);
CvPoint right = new CvPoint(-1, -1);
CvPoint left = new CvPoint(-1, -1);
//Assign blobs to eyes.
foreach (KeyValuePair<uint, CvBlob> item in blobs)
{
CvBlob b = item.Value;
double d = CvPoint.Distance(b.Centroid, center);
if (b.Centroid.X < center.X)
{
if (d < minDistLeft)
{
minDistLeft = d;
right = b.Centroid;
}
}
else
{
if (d < minDistRight)
{
minDistRight = d;
left = b.Centroid;
}
}
}
if (right.X >= 0 && left.X >= 0)
{
rightEye2D = new int2(right.X + face.X, right.Y + face.Y);
leftEye2D = new int2(left.X + face.X, left.Y + face.Y);
boundingBox2D = new int4(face.X, face.Y, face.Width, face.Height);
//Find bridge and nose. This was done in opencl to leverage read_imagef.
kernelFindFaceLandmarks.Execute(new CLCalc.Program.MemoryObject[] { rightEye2D, leftEye2D, boundingBox2D, faceDetectionBuffer, filter.GetDepthImage() }, 1);
ReadFaceLandmarksFromBuffer();
foundFace = true;
}
else
{
foundFace = false;
}
Cv.ResetImageROI(gray);
Cv.ResetImageROI(erode);
Cv.ResetImageROI(dilate);
Cv.ResetImageROI(tmp);
}
else
{
foundFace = false;
WriteFaceLandmarksToBuffer();
}
}
public void Initialize(BaseCameraApplication capture)
{
DepthCameraFrame depthImage = capture.GetPrimaryDevice().GetDepthImage();
this.width = depthImage.Width;
this.height = depthImage.Height;
this.filter = ((AdaptiveTemporalFilter)capture.GetImageFilter());
CvSize sz = new CvSize(depthImage.Width, depthImage.Height);
gray = new IplImage(sz, BitDepth.U8, 1);
erode = new IplImage(sz, BitDepth.U8, 1);
dilate = new IplImage(sz, BitDepth.U8, 1);
tmp = new IplImage(sz, BitDepth.U8, 1);
mask = new IplImage(sz, BitDepth.U8, 1);
imgLabel = new IplImage(sz, BitDepth.F32, 1);
faceDetectionBuffer = CLCalc.Program.Variable.Create(new ComputeBuffer<FaceLandmarks>(CLCalc.Program.Context, ComputeMemoryFlags.ReadWrite, 1));
try
{
CLCalc.Program.Compile(capture.GetPrimaryDevice().GetPreprocessCode() + src);
}
catch (BuildProgramFailureComputeException ex)
{
System.Console.WriteLine(ex.Message);
Environment.Exit(1);
}
irImageBuffer = CLCalc.Program.Variable.Create(new ComputeBuffer<byte>(CLCalc.Program.Context, ComputeMemoryFlags.ReadWrite | ComputeMemoryFlags.CopyHostPointer, ir = new byte[width * height]));
kernelCopyIRImage = new CLCalc.Program.Kernel("CopyIRImage");
kernelFindFaceLandmarks = new CLCalc.Program.Kernel("FindFaceLandmarks");
}
public void Process(BaseCameraApplication app)
{
CameraDataFilter filter = app.GetImageFilter();
kernelCopyImage.Execute(new CLCalc.Program.MemoryObject[] {
app.GetPrimaryDevice().GetDepthImage().GetMemoryObject(),
filter.GetTextureImage(),
filter.GetColorImage(),
pointBuffer,
colorBuffer}, new int[] { filter.GetDepthImage().Width, filter.GetDepthImage().Height });
pointBuffer.ReadFromDeviceTo(points);
int vertexCount = points.Length / 4;
/*
for (int i = 0; i < points.Length; i += 4)
{
float4 pt = new float4(points[i], points[i + 1], points[i + 2], points[i + 3]);
if (pt.z>200.0&&pt.z < 2000.0f&&pt.w>100.0f)
{
vertexCount++;
}
}
* */
colorBuffer.ReadFromDeviceTo(colors);
string path = outputDir + "pointcloud" + counter.ToString("0000") + ".xyz";
MeshReaderWriter writer = new MeshReaderWriter(vertexCount, 0, path);
float minDepth = app.GetPrimaryDevice().GetMinDepth();
float maxDepth = app.GetPrimaryDevice().GetMaxDepth();
for (int i = 0; i < points.Length; i += 4)
{
float4 pt = new float4(points[i], points[i + 1], points[i + 2], points[i + 3]);
float4 rgb = new float4(colors[i], colors[i + 1], colors[i + 2], colors[i + 3]);
if (pt.z > minDepth && pt.z < maxDepth && pt.w > 100.0f)
{
writer.AddPoint(pt, rgb);
}
else
{
writer.AddPoint(new float4(), new float4());
}
}
writer.Close();
counter++;
}
public void Process(BaseCameraApplication app)
{
if (Visible || WireFrame)
{
DepthCameraFrame depthFrame = app.GetPrimaryDevice().GetDepthImage();
ColorCameraFrame colorFrame = app.GetPrimaryDevice().GetColorImage();
TextureMapFrame textureFrame = app.GetPrimaryDevice().GetTextureImage();
CameraDataFilter filter = (CameraDataFilter)app.GetImageFilter();
CLGLInteropFunctions.AcquireGLElements(new CLCalc.Program.MemoryObject[] { positionBuffer, colorBuffer, normalBuffer });
CLCalc.Program.MemoryObject[] args = new CLCalc.Program.MemoryObject[] {
app.GetPrimaryDevice().GetBoundingBox(),filter.GetDepthImage(),filter.GetTextureImage(),colorFrame.GetMemoryObject(),positionBuffer,colorBuffer,normalBuffer};
kernelCopyImage.Execute(args, new int[] { depthFrame.Width, depthFrame.Height });
CLGLInteropFunctions.ReleaseGLElements(new CLCalc.Program.MemoryObject[] { positionBuffer, colorBuffer, normalBuffer });
}
}
public void Initialize(BaseCameraApplication app, OpenTKWrapper.CLGLInterop.GLAdvancedRender glw)
{
try
{
CLCalc.Program.Compile(app.GetPrimaryDevice().GetPreprocessCode() + src);
}
catch (BuildProgramFailureComputeException ex)
{
System.Console.WriteLine(ex.Message);
Environment.Exit(1);
}
kernelCopyImage = new CLCalc.Program.Kernel("CopyImageToMesh");
BoundingBox bbox = app.GetPrimaryDevice().GetBoundingBox();
int w = app.GetPrimaryDevice().GetDepthImage().Width;
int h = app.GetPrimaryDevice().GetDepthImage().Height;
int size = w * h;
ColorData = new float[16 * size];
PositionData = new float[16 * size];
NormalData = new float[12 * size];
for (int i = 0; i < size; i++)
{
PositionData[4 * i] = (i / w) - w / 2;
PositionData[4 * i + 2] = i % w - h / 2;
PositionData[4 * i + 1] = i % 7;
PositionData[4 * i + 3] = 1.0f;
}
GL.GenBuffers(3, QuadMeshBufs);
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[0]);
GL.BufferData(BufferTarget.ArrayBuffer, (IntPtr)(ColorData.Length * sizeof(float)), ColorData, BufferUsageHint.StreamDraw);
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[1]);
GL.BufferData(BufferTarget.ArrayBuffer, (IntPtr)(PositionData.Length * sizeof(float)), PositionData, BufferUsageHint.StreamDraw);//Notice STREAM DRAW
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[2]);
GL.BufferData(BufferTarget.ArrayBuffer, (IntPtr)(NormalData.Length * sizeof(float)), NormalData, BufferUsageHint.StreamDraw);//Notice STREAM DRAW
colorBuffer = new CLCalc.Program.Variable(QuadMeshBufs[0], typeof(float));
positionBuffer = new CLCalc.Program.Variable(QuadMeshBufs[1], typeof(float));
normalBuffer = new CLCalc.Program.Variable(QuadMeshBufs[2], typeof(float));
GL.BindBuffer(BufferTarget.ArrayBuffer, 0);
GL.Enable(EnableCap.Blend);
}
public void Process(BaseCameraApplication app)
{
this.GroundPlane = app.GetPrimaryDevice().GetGroundPlane();
}
public void Initialize(BaseCameraApplication app, GLAdvancedRender glw)
{
minDepth = app.GetPrimaryDevice().GetMinDepth();
maxDepth = app.GetPrimaryDevice().GetMaxDepth();
bbox = app.GetPrimaryDevice().GetBoundingBox();
screenWidth = glw.GLCtrl.Width;
screenHeight = glw.GLCtrl.Height;
}
public void Initialize(BaseCameraApplication capture, GLAdvancedRender glw)
{
try
{
CLCalc.Program.Compile(capture.GetPrimaryDevice().GetPreprocessCode() + src);
}
catch (BuildProgramFailureComputeException ex)
{
System.Console.WriteLine(ex.Message);
Environment.Exit(1);
}
DepthCameraFrame frame = capture.GetDevices()[0].GetDepthImage();
kernelCopyBmp = new CLCalc.Program.Kernel("CopyImageToPointCloud");
int size = frame.Width * frame.Height;
bufs = new int[4];
ColorData = new float[4 * size];
PositionData = new float[4 * size];
GL.GenBuffers(2, bufs);
GL.BindBuffer(BufferTarget.ArrayBuffer, bufs[0]);
GL.BufferData(BufferTarget.ArrayBuffer, (IntPtr)(ColorData.Length * sizeof(float)), ColorData, BufferUsageHint.StreamDraw);
GL.BindBuffer(BufferTarget.ArrayBuffer, bufs[1]);
GL.BufferData(BufferTarget.ArrayBuffer, (IntPtr)(PositionData.Length * sizeof(float)), PositionData, BufferUsageHint.StreamDraw);//Notice STREAM DRAW
GL.Enable(EnableCap.PointSmooth);
GL.PointSize(4.0f);
positions = new CLCalc.Program.Variable(bufs[1], typeof(float));
colors = new CLCalc.Program.Variable(bufs[0], typeof(float));
}
public void Process(BaseCameraApplication capture)
{
if (Visisble)
{
DepthCameraFrame depthFrame = capture.GetPrimaryDevice().GetDepthImage();
ColorCameraFrame colorFrame = capture.GetPrimaryDevice().GetColorImage();
TextureMapFrame textureFrame = capture.GetPrimaryDevice().GetTextureImage();
if (depthFrame != null && colorFrame != null)
{
CLCalc.Program.MemoryObject[] args = new CLCalc.Program.MemoryObject[] { depthFrame.GetMemoryObject(), textureFrame.GetMemoryObject(), colorFrame.GetMemoryObject(), positions, colors };
CLGLInteropFunctions.AcquireGLElements(args);
kernelCopyBmp.Execute(args, new int[] { depthFrame.Width, depthFrame.Height });
CLGLInteropFunctions.ReleaseGLElements(args);
}
}
}